System and method for controlling a position of an articulated robotic arm
A system for controlling the position of an articulated robotic arm includes a robotic catheter procedure system having the articulated robotic arm and a controller coupled to the articulated robotic arm. The system further includes a patient table positioned proximate to and separate from the articulated robotic arm and a tracking system coupled to the controller and configured to measure a change in a position of the patient table. The controller is configured to adjust the position of the articulated robotic arm based on the measured change in position of the patient table.
1. A system for controlling the position of an articulated robotic arm, the system comprising:
a robotic catheter procedure system comprising:
the articulated robotic arm; and
a controller coupled to the articulated robotic arm;
a patient table positioned proximate to and separate from the articulated robotic arm; and
a tracking system coupled to the controller and configured to measure a change in a position of the patient table;
wherein the controller is configured to adjust the position of the articulated robotic arm based on the measured change in position of the patient table,
wherein the tracking system includes a visual tracking configured to measure the change in position of a fiducial target provided on the patient table, the change in position of the fiducial target being indicative of the change in position of the patient table, and
wherein the controller is configured to generate a control signal to lock movement of the patient table based on an error from the tracking system.
2. The system according to claim 1 , wherein the tracking system generates a control signal in response to the measured change in position of the patient table and transmits the control signal to the controller.
3. The system according to claim 1 , wherein the controller generates a control signal based on the measured change of position of the patient table.
4. The system according to claim 1 , wherein the tracking system comprises at least one encoder.
5. The system according to claim 1 , wherein the articulated robotic arm is mounted to a surface above the patient table.
6. The system according to claim 1 , wherein the articulated robotic arm is mounted to a cart.
7. The system according to claim 1 , wherein the articulated robotic arm is mounted to the patient table.
8. A system for controlling the position of an articulated robotic arm, the system comprising:
a robotic catheter procedure system comprising:
the articulated robotic arm; and
a controller coupled to the articulated robotic arm;
a patient table positioned proximate to and separate from the articulated robotic arm; and
a tracking system coupled to the controller and configured to measure a change in a position of a fiducial target, the fiducial target being provided on the patient table, the change in the position of the fiducial target being indicative of a change in position of the patient table;
wherein the controller is configured to adjust the position of the articulated robotic arm based on the measured change in position of the fiducial target,
wherein the tracking system includes a visual tracking system configured to measure the change in position of the fiducial target, and
wherein the controller is configured to generate a control signal to lock movement of the patient table based on an error from the tracking system.
9. The system according to claim 8 , wherein the tracking system generates a control signal in response to the measured change in position of the fiducial target and transmits the control signal to the controller.
10. The system according to claim 8 , wherein the controller generates a control signal based on the measured change in position of the fiducial target.
11. The system according to claim 8 , further comprising a visual tracking device coupled to the tracking system and configured to track the fiducial target.
12. The system according to claim 11 , wherein the fiducial target comprises at least one light emitting diode.
13. The system according to claim 8 , further comprising an imaging system coupled to the tracking system and configured to track the fiducial target.
14. The system according to claim 8 , wherein the fiducial target comprises at least one field coil.
15. The system according to claim 8 , wherein the articulated robotic arm is mounted to a surface above the patient table.
16. The system according to claim 8 , wherein the articulated robotic arm is mounted to a cart.
17. The system according to claim 8 , wherein the articulated robotic arm is mounted to the patient table.